Cutting head groove follow-up verification method based on linear scanning laser sensor

Abstract

The invention discloses a cutting head groove follow-up verification method based on a linear scanning laser sensor, which relates to the technical field of laser cutting and comprises the following steps: scanning the surface of a workpiece by using the linear scanning laser sensor to obtain the position of a first straight line on the surface of the workpiece; the tail end point of the cutting tool is determined; when groove follow-up marking is executed, the three-dimensional cutting head is controlled to rotate around a fixed point, when it is monitored that the position of the tail end point of the cutter changes, it is judged that the tail end point of the cutter deviates, and the feedback height of the cutting head is inconsistent with a control instruction; based on a G68.2 instruction in a numerical control system, rotation is carried out according to the position of the first straight line and the deviation of the position of the second straight line obtained after one-circle rotation; if the position of the tail end point of the cutting tool is still changed, a recalibration calibration program is executed; the high-precision measurement capability of the linear scanning laser sensor is utilized, and a control algorithm and a dynamic correction technology are combined, so that the accurate control of the tail end point of the cutting tool in the groove follow-up process is realized.

Description

Technical Field

[0001] The invention relates to the technical field of laser cutting, and in particular to a cutting head groove following verification method based on a line scanning laser sensor. Background Art

[0002] In the field of industrial automation, especially in the laser cutting industry, precise control of the position and posture of the cutting tool is crucial to achieve high-quality and high-precision processing results. Traditionally, the position control of the cutting tool relies on mechanical limit devices or simple position sensors, which are incapable of dealing with complex-shaped workpieces or scenarios that require dynamic adjustment of the cutting path.

[0003] In recent years, with the rapid development of laser technology, line scanning laser sensors have been widely used in the field of industrial automation due to their high precision, high speed and non-contact measurement characteristics. Through line scanning laser sensors, the three-dimensional contour information of the workpiece surface can be obtained in real time, providing strong data support for the precise positioning of the cutting tool. However, in practical applications, especially when performing complex processes such as groove follow-up cutting, how to ensure the stability and precise control of the end point of the cutting tool in the dynamic process has become a technical problem that needs to be solved urgently.

[0004] Most of the existing groove tracking cutting technologies rely on preset cutting paths and fixed control parameters, which makes it difficult to adapt to slight changes in the workpiece surface or dynamically adjust the cutting posture in real time. In addition, the possible deviation between the distance sensor feedback and the control command further increases the difficulty of controlling the cutting accuracy. Therefore, developing a groove tracking verification method that can monitor the position changes of the cutting tool end point in real time and perform dynamic correction according to actual conditions is of great significance for improving cutting accuracy and optimizing production efficiency. Summary of the invention

[0005] Based on the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a cutting head groove tracking verification method based on a line scanning laser sensor to solve the above-mentioned technical problems.

[0006] To achieve the above object, the present invention provides the following technical solution: a cutting head groove tracking verification method based on a line scanning laser sensor, comprising:

[0007] S1: Use a line scan laser sensor to scan the surface of the workpiece to obtain the position of the first straight line scanned by the line scan laser sensor on the surface of the workpiece;

[0008] S2: Determine the end point L of the cutting tool t , end point L t By presetting the pendulum length L and the follow-up height H 1 Add and get;

[0009] S3: When the CNC system is performing groove follow-up marking, it controls the 3D cutting head to rotate around a fixed point. During the rotation around the point, if the position L of the tool end point t If there is no change, the groove movement is normal;

[0010] S4: When the position L of the tool end point is detected t When there is a change, it is judged that the end point of the tool is offset and there is an inconsistency between the cutting head feedback height g and the control command;

[0011] S5: After the inconsistency is detected, the rotation is performed based on the G68.2 instruction in the numerical control system according to the offset between the position of the first straight line obtained by the line scan laser sensor before the rotation and the position of the second straight line obtained after one rotation;

[0012] S6: Monitor the position change of the end point of the cutting tool again. If there is still a change, perform a recalibration procedure to ensure the consistency between the cutting head distance sensor feedback and the control command.

[0013] The present invention is further configured such that the line scanning laser sensor can scan and feed back position information of the workpiece surface in real time, thereby providing data support for the precise positioning of the cutting tool.

[0014] The present invention is further configured such that the G68.2 instruction is used to automatically adjust the cutting path of the cutting head according to the straight line angle information obtained by real-time scanning to achieve precise groove follow-up cutting.

[0015] The present invention is further configured such that the recalibration calibration procedure includes adjusting the sensitivity of the distance sensor, calibrating its measurement reference point, and optimizing the control algorithm to ensure accurate control of the position of the end point of the cutting tool.

[0016] The present invention is further configured such that the calculation logic of the pendulum length L is: Among them, e is the descending height, γ is the tilt angle;

[0017] Calculation method of follow-up height H1: Where r is the nozzle radius, β is the nozzle inclination angle, and g is the nozzle height;

[0018] Tool end point position: L t =L+H 1 .

[0019] The present invention is further configured such that the calculation logic of the angle that G68.2 needs to deflect is:

[0020] According to the two points (x1, y1), x2, y2) of the first straight line on the surface when it is not rotated obtained by the line scanning laser sensor, the equation of the first straight line is obtained: (y2 -y 1 )x-(x 2 -x 1 )y+(x 1 y 2 -x 2 y 1 )=0;

[0021] After controlling the 3D cutting head to rotate around a fixed point, obtain the two points of the second straight line (x3, y3), x4, y4), and calculate the equation of the second straight line: (y 4 -y 3 )x-(x 4 -x 3 )y+(x 3 y 4 -x 4 y 3 )=0;

[0022] Assume that the equation of the first line is A1x+B1y+C1=0, and the equation of the second line is A2x+B2y+C2=0, and the intersection coordinates (x, y) can be obtained by combining them, where

[0023] According to the distance formula from a point to a line, we can find the perpendicular distance from a point on the first line to the second line and the perpendicular distance from a point on the first line (x1, y1) to the second line.

[0024] According to the intersection point (x, y) and a point on the first straight line (x1, y1), the length L2 can be calculated according to the distance formula between the two points, and then the rotation angle θ can be calculated according to the vertical distance d and the length L2, where: sin(θ)=d / L2, that is, θ=arcsin(d / L2).

[0025] The present invention is further configured such that the method is applicable to automated cutting equipment, especially to industrial application scenarios requiring high-precision groove follow-up cutting.

[0026] The present invention provides a cutting head groove tracking verification method based on a line scanning laser sensor, by using the line scanning laser sensor to scan the surface of the workpiece to obtain the position of the first straight line scanned by the current line scanning laser sensor on the workpiece surface; determine the end point L of the cutting tool t , end point L t By presetting the pendulum length L and the follow-up height H 1 When the CNC system is performing groove follow-up marking, it controls the 3D cutting head to rotate around a fixed point. During the rotation around the point, if the position L of the tool end point tIf there is no change, the groove movement is normal; when the position L of the tool end point is monitored t When a change occurs, it is determined that the end point of the tool has shifted, and there is an inconsistency between the cutting head feedback height g and the control command; after detecting the inconsistency, the line scan laser sensor is rotated based on the G68.2 command in the CNC system according to the offset between the position of the first straight line obtained before rotation and the position of the second straight line obtained after one rotation; the position change of the end point of the cutting tool is monitored again. If there is still a change, the recalibration procedure is performed to ensure the consistency between the cutting head distance sensor feedback and the control command. The beneficial effects include: by utilizing the high-precision measurement capability of the line scan laser sensor, combined with advanced control algorithms and dynamic correction technology, precise control of the cutting tool end point during the groove following process is achieved, providing a new solution for the cutting process in the field of industrial automation.

[0027] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0029] Figure 1 A flow chart of a cutting head groove following verification method based on a line scanning laser sensor is shown as an exemplary embodiment of the present invention;

[0030] Figure 2 A schematic diagram of pendulum length calculation of a cutting head groove following verification method based on a line scanning laser sensor is shown as an exemplary embodiment of the present invention;

[0031] Figure 3 The following height H of a cutting head groove following verification method based on a line scanning laser sensor is shown as an exemplary embodiment of the present invention. 1 Calculation method of

[0032] Figure 4 A schematic diagram of the intersection coordinates and the vertical distance from a point on a first straight line to a second straight line of a cutting head groove tracking verification method based on a line scanning laser sensor is shown as an exemplary embodiment of the present invention;

[0033] Figure 5 A schematic diagram of L2 distance and rotation angle of a cutting head groove following verification method based on a line scanning laser sensor is shown as an exemplary embodiment of the present invention;

[0034] Figure 6 A schematic diagram of a G68.2 inclined surface machining instruction of a numerical control system for a cutting head groove following verification method based on a line scanning laser sensor is shown as an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0036] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0037] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0038] A cutting head groove tracking verification method based on line scanning laser sensor, such as Figure 1 As shown, including:

[0039] S1: Use a line scan laser sensor to scan the surface of the workpiece to obtain the position of the first straight line scanned by the line scan laser sensor on the surface of the workpiece;

[0040] S2: Determine the end point L of the cutting tool t , end point L t By presetting the pendulum length L and the follow-up height H 1 Add and get;

[0041] S3: When the CNC system is performing groove follow-up marking, it controls the 3D cutting head to rotate around a fixed point. During the rotation around the point, if the position L of the tool end point t If there is no change, the groove movement is normal;

[0042] S4: When the position L of the tool end point is detected t When there is a change, it is judged that the end point of the tool is offset and there is an inconsistency between the cutting head feedback height g and the control command;

[0043] S5: After the inconsistency is detected, the rotation is performed based on the G68.2 instruction in the numerical control system according to the offset between the position of the first straight line obtained by the line scan laser sensor before the rotation and the position of the second straight line obtained after one rotation;

[0044] S6: Monitor the position change of the end point of the cutting tool again. If there is still a change, perform a recalibration procedure to ensure the consistency between the cutting head distance sensor feedback and the control command.

[0045] The present invention is further configured such that the line scanning laser sensor can scan and feed back position information of the workpiece surface in real time, thereby providing data support for the precise positioning of the cutting tool.

[0046] The present invention is further configured such that the G68.2 instruction is used to automatically adjust the cutting path of the cutting head according to the straight line angle information obtained by real-time scanning to achieve precise groove follow-up cutting.

[0047] The present invention is further configured such that the recalibration calibration procedure includes adjusting the sensitivity of the distance sensor, calibrating its measurement reference point, and optimizing the control algorithm to ensure accurate control of the position of the end point of the cutting tool.

[0048] like Figure 2 As shown, the present invention is further configured such that the calculation logic of the pendulum length L is: Among them, e is the descending height, γ is the tilt angle;

[0049] like Figure 3 As shown, the calculation method of the following height H1 is: Where r is the nozzle radius, β is the nozzle inclination angle, and g is the nozzle height;

[0050] Tool end point position: L t =L+H 1 .

[0051] like Figure 6 As shown, the present invention is further configured such that the calculation logic of the angle that G68.2 needs to deflect is:

[0052] According to the two points (x1, y1), x2, y2) of the first straight line on the surface when it is not rotated obtained by the line scanning laser sensor, the equation of the first straight line is obtained: (y 2 -y 1 )x-(x 2 -x 1 )y+(x 1 y 2 -x 2 y 1 )=0;

[0053] After controlling the 3D cutting head to rotate around a fixed point, obtain the two points of the second straight line (x3, y3), x4, y4), and calculate the equation of the second straight line: (y 4 -y 3 )x-(x 4 -x 3 )y+(x 3 y 4 -x 4 y 3 )=0;

[0054] Assume that the equation of the first line is A1x+B1y+C1=0, and the equation of the second line is A2x+B2y+C2=0, and the intersection coordinates (x, y) can be obtained by combining them, where

[0055] like Figure 4 As shown, according to the distance formula from a point to a line, we can find the perpendicular distance from a point on the first line to the second line, and the perpendicular distance from a point on the first line (x1, y1) to the second line.

[0056] like Figure 5 As shown, according to the intersection point (x, y) and a point (x1, y1) on the first straight line, the length L2 can be calculated according to the distance formula between the two points, and then the rotation angle θ can be calculated according to the vertical distance d and the length L2, where, sin(θ)=d / L2, that is, θ=arcsin(d / L2).

[0057] The present invention is further configured such that the method is applicable to automated cutting equipment, especially to industrial application scenarios requiring high-precision groove follow-up cutting.

[0058] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0059] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0060] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0061] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0062] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0063] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0064] In the several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0065] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0066] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0067] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0068] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cutting head groove follow-up verification method based on a line scanning laser sensor, characterized in that: include: S1: Use a line scan laser sensor to scan the surface of the workpiece to obtain the position of the first straight line scanned by the line scan laser sensor on the surface of the workpiece; S2: Determine the end point L of the cutting tool t , end point L t Obtained by adding the preset pendulum length L and the follower height H1; S3: When the CNC system is performing groove follow-up marking, it controls the 3D cutting head to rotate around a fixed point. During the rotation around the point, if the position L of the tool end point t If there is no change, the groove movement is normal; S4: When the position L of the tool end point is detected t When there is a change, it is judged that the end point of the tool is offset and there is an inconsistency between the cutting head feedback height g and the control command; S5: After the inconsistency is detected, the rotation is performed based on the G68.2 instruction in the numerical control system according to the offset between the position of the first straight line obtained by the line scan laser sensor before the rotation and the position of the second straight line obtained after one rotation; S6: Monitor the position change of the end point of the cutting tool again. If there is still a change, perform a recalibration procedure to ensure the consistency between the cutting head distance sensor feedback and the control command.

2. According to claim 1, a cutting head groove tracking verification method based on a line scanning laser sensor is characterized in that: The line scanning laser sensor can scan and feed back the position information of the workpiece surface in real time, providing data support for the precise positioning of the cutting tool.

3. The cutting head groove following verification method based on line scanning laser sensor according to claim 1 is characterized in that: The G68.2 instruction is used to automatically adjust the cutting path of the cutting head according to the straight line angle information obtained by real-time scanning, so as to achieve accurate groove follow-up cutting.

4. The cutting head groove following verification method based on line scanning laser sensor according to claim 1 is characterized in that: The recalibration procedure includes adjusting the sensitivity of the distance sensor, calibrating its measurement reference point, and optimizing the control algorithm to ensure accurate control of the position of the cutting tool end point.

5. The cutting head groove following verification method based on line scanning laser sensor according to claim 1 is characterized in that: The calculation logic of the pendulum length L is: Among them, e is the descending height, γ is the tilt angle; Calculation method of follow-up height H1: Where r is the nozzle radius, β is the nozzle inclination angle, and g is the nozzle height; Tool end point position: L t =L+H1.

6. The cutting head groove following verification method based on line scanning laser sensor according to claim 1 is characterized in that: The calculation logic of the angle that needs to be deflected by G68.2 is: According to the two points (x1, y1) and (x2, y2) of the first straight line on the surface when not rotating obtained by the line scanning laser sensor, the equation of the first straight line is obtained: (y2-y1)x-(x2-x1)y+(x1y2-x2y1)=0; After controlling the 3D cutting head to rotate around a fixed point, obtain two points (x3, y3) and (x4, y4) of the second straight line, and calculate the equation of the second straight line: (y4-y3)x-(x4-x3)y+(x3y4-x4y3)=0; Assume that the equation of the first line is A1x+B1y+C1=0, and the equation of the second line is A2x+B2y+C2=0, and the intersection coordinates (x, y) can be obtained by combining them, where According to the distance formula from a point to a line, we can find the perpendicular distance from a point on the first line to the second line and the perpendicular distance from a point on the first line (x1, y1) to the second line. According to the intersection point (x, y) and a point on the first straight line (x1, y1), the length L2 can be calculated according to the distance formula between the two points, and then the rotation angle θ can be calculated according to the vertical distance d and the length L2, where: sin(θ)=d / L2, that is, θ=arcsin(d / L2).

7. A cutting head groove following verification method based on a line scanning laser sensor according to any one of claims 1 to 6, characterized in that: The method is suitable for automated cutting equipment, especially for industrial application scenarios requiring high-precision groove follow-up cutting.

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